Information processing method, information processing apparatus, information processing program, and storage medium

Abstract

To provide an information processing method capable of determining the actual traceability of an autonomous device with respect to a designed target route.SOLUTION: An information processing method includes receiving input of a target route targeted between nodes that define passage locations for an autonomous device, and target speed targeted in autonomous traveling on the target route. The information processing method includes causing a display device to display the target route. Displaying the target route includes highlighting a non-allowable section in the target route in which a yaw rate assumed for an autonomous device that traces a curved target route in correlation with the target route and the target speed is out of an allowable range of trace establishment.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to an information processing technique for performing route generation-related processing related to generating route data that defines a target route to be traced by an autonomous device capable of autonomous travel. [Background technology]

[0002] Patent Document 1 discloses a driving trajectory correction device that corrects the driving trajectory of a vehicle. When the deviation amount exceeds a threshold while the vehicle is traveling at a predetermined speed or higher, the driving trajectory correction device generates a correction trajectory that smoothly connects the current position of the vehicle to a target point, and corrects the driving trajectory by replacing the portion of the driving trajectory up to the target point with the correction trajectory. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-75256 Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology of Patent Document 1, the travel trajectory is corrected after the vehicle actually deviates from the travel trajectory. In this case, there is a risk of a large trace delay for the travel trajectory due to a response delay that occurs from the detection of the deviation to the correction of the travel trajectory and the travel according to the corrected travel trajectory. On the other hand, when route data that defines a target route in advance is generated in advance, if the user cannot grasp the actual traceability of whether or not the autonomous device can actually trace the designed target route, there is a risk of a decrease in convenience.

[0005] An object of the present disclosure is to provide an information processing method capable of grasping the actual traceability of an autonomous device relative to a designed target route. Another object of the present disclosure is to provide an information processing device capable of grasping the actual traceability of an autonomous device relative to a designed target route. Yet another object of the present disclosure is to provide an information processing program capable of grasping the actual traceability of an autonomous device relative to a designed target route. Yet another object of the present disclosure is to provide a storage medium capable of grasping the actual traceability of an autonomous device relative to a designed target route. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the corresponding relationship with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is an information processing method executed by a processor (102) to execute a route generation-related process related to generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, the method comprising: receiving an input of a target route that is set as a target for each node between which the autonomous device passes and a target speed that is set as a target for the autonomous traveling of the target route; Displaying the target route on a display device (7); Including, To display the target route, and highlighting an unacceptable section (S) of the target path where an expected yaw rate of the autonomous device tracing the curved target path in correlation with the target path and the target speed falls outside an acceptable range for the tracing to succeed.

[0008] A second aspect of the present disclosure is an information processing device that includes a processor (102) and executes route generation-related processing related to generation of route data that defines a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, The processor receiving an input of a target route that is set as a target for each node between which the autonomous device passes and a target speed that is set as a target for the autonomous traveling of the target route; Displaying the target route on a display device (7); configured to run To display the target route, and highlighting an unacceptable section (S) of the target path where an expected yaw rate of the autonomous device tracing the curved target path in correlation with the target path and the target speed falls outside an acceptable range for the tracing to succeed.

[0009] A third aspect of the present disclosure is an information processing program stored in a storage medium (101) for executing a route generation-related process related to generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, the information processing program including instructions to be executed by a processor (102), The command is, Accepting an input of a target route that is set as a target for each section between nodes that defines a passing position of the autonomous device, and a target speed that is set as a target for the autonomous traveling of the target route; Displaying the target route on a display device (7); Including, To display the target route, and highlighting an unacceptable section (S) of the target path where an expected yaw rate of the autonomous device tracing the curved target path in correlation with the target path and the target speed falls outside an acceptable range for the tracing to succeed.

[0010] A fourth aspect of the present disclosure is a storage medium storing an information processing program including instructions to be executed by a processor (102) to execute a route generation-related process related to generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, the information processing program including: The command is, receiving an input of a target route that is set as a target for each node between which the autonomous device passes and a target speed that is set as a target for the autonomous traveling of the target route; Displaying the target route on a display device (7); Including, To display the target route, and highlighting an unacceptable section (S) of the target path where an expected yaw rate of the autonomous device tracing the curved target path in correlation with the target path and the target speed falls outside an acceptable range for the tracing to succeed.

[0011] According to the first to fourth aspects, an unacceptable section in the target route where the yaw rate expected by the autonomous device tracing the curved target route in correlation with the target route and the target speed is outside the allowable range for the trace to be established is highlighted. Therefore, by checking the highlighted unacceptable section, the user can understand that the autonomous device cannot trace the input target route. Therefore, it is possible to understand the actual traceability. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic diagram showing an autonomous device according to a first embodiment. [Diagram 2] 1 is a block diagram showing a configuration of an entire system including an information processing apparatus according to a first embodiment; [Diagram 3] 1 is a block diagram showing a functional configuration of an information processing device according to a first embodiment; [Figure 4] 3 is a flowchart illustrating an information processing method according to the first embodiment. [Diagram 5] 3 is a flowchart illustrating an information processing method according to the first embodiment. [Figure 6] FIG. 11 is a schematic diagram showing an example of a screen display in designing a target route. [Figure 7] FIG. 11 is a schematic diagram showing an example of a screen display in designing a target route. [Figure 8] FIG. 13 is a schematic diagram showing an example of highlighting. [Figure 9] FIG. 11 is a schematic diagram showing an example of a screen display in designing a target route. [Figure 10]11 is a graph showing an example of a change in yaw rate depending on the distance from a start node. [Figure 11] 10 is a flowchart showing an information processing method according to a second embodiment. [Figure 12] 13 is a flowchart showing an information processing method according to a third embodiment. [Figure 13] FIG. 13 is a schematic diagram showing an example of a display of a limit route. [Figure 14] FIG. 11 is a schematic diagram showing an example of a screen display in designing a target route. [Figure 15] FIG. 13 is a schematic diagram showing an example of a display of the next limit route. [Figure 16] 13 is a flowchart illustrating an information processing method according to a fourth embodiment. [Figure 17] 13 is a flowchart illustrating an information processing method according to a fifth embodiment. [Figure 18] FIG. 23 is a schematic diagram showing an example of highlighting according to the sixth embodiment. [Figure 19] FIG. 23 is a schematic diagram showing an example of highlighting according to the seventh embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. In addition, by assigning the same reference numerals to corresponding components in each embodiment, duplicated descriptions may be omitted. In addition, when only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Furthermore, in addition to the combination of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments can be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0014] First embodiment The information processing device 100 of the first embodiment controls a display related to a target route P of the autonomous device 1 shown in FIG. 1. The autonomous device 1 is an autonomous robot capable of autonomously traveling in any direction, including forward, backward, left and right. The autonomous device 1 as the autonomous device in the first embodiment can also be called an autonomous vehicle. The autonomous device 1 is, for example, a transport vehicle that transports a load by autonomous traveling. The autonomous device 1 may be used for purposes other than transporting a load (for example, information gathering, etc.).

[0015] The autonomous device 1 is provided with a driving source 11, a control unit 13, wheels 14, and an axle 15 on a vehicle body 10. The driving source 11 is, for example, an electric motor. The communication system 12 acquires communication information available to the control unit 13 by wireless communication. The communication system 12 may be a positioning type that receives a positioning signal from a satellite of a Global Navigation Satellite System (GNSS) that exists in the external world of the autonomous device 1. The positioning type communication system 12 is, for example, a GNSS receiver. The communication system 12 may be a V2X type that transmits and receives a communication signal between the autonomous device 1 and a V2X system that exists in the external world of the autonomous device 1. The V2X type communication system 12 is, for example, at least one of a Dedicated Short Range Communications (DSRC) communication device and a Cellular V2X (C-V2X) communication device. The communication system 12 may be a terminal communication type that transmits and receives a communication signal between a terminal that exists in the internal world or the external world of the autonomous device 1. The terminal communication type communication system 12 is at least one of, for example, a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, and an infrared communication device.

[0016] The control unit 13 is a control device that executes autonomous driving control of the autonomous device 1, and is an ECU (Electronic Control Unit) including at least one dedicated computer. The control unit 13 autonomously executes acceleration / deceleration control and steering control of the autonomous device 1, thereby causing the autonomous device 1 to self-propel. The control unit 13 controls the autonomous driving so as to trace the target route P according to route data related to the target route P.

[0017] The wheels 14 include a pair of front wheels 14a provided at the front of the vehicle body 10 and a pair of rear wheels 14b provided at the rear. The axle 15 includes a front axle 15a having the pair of front wheels 14a rotatably fixed to both ends thereof, and a rear axle 15b having the pair of rear wheels 14b rotatably fixed to both ends thereof. The vehicle body 10 is provided with a loading space S for loading cargo. The loading space S is formed, for example, as a space that opens toward the top, by being partitioned into front, rear, left and right by a part of the vehicle body 10. The loading space S may be formed, for example, as a space that opens toward the side of the vehicle body 10, or may simply be an upper space above the upper surface of the vehicle body 10 as a loading surface.

[0018] The autonomous device 1 realizes autonomous driving by traveling so as to trace a preset target route P between a departure point and an arrival point. In addition to autonomous driving, the autonomous device 1 may be capable of manual driving by user operation. For example, the autonomous device 1 may be provided with a driver's seat in the vehicle body 10, and may be capable of manual driving by a user seated in the driver's seat operating an operation system. The operation system may be, for example, a steering member, an accelerator pedal, and a brake pedal provided in the vehicle body 10. Alternatively, the autonomous device 1 may be capable of manual driving by operating a control pad as an operation system from the outside or inside of the vehicle body 10.

[0019] The information processing device 100 executes a display for a user of the autonomous device 1 to determine a target route P in advance before the departure of the autonomous device 1. Specifically, the information processing device 100 displays to the user a limit route PL that is permitted to be traced by the autonomous device 1.

[0020] As shown in FIG. 2, the information processing device 100 is connected to an input system 4, a map database (DB) 5, a vehicle DB 6, and a display system 7 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line.

[0021] The input system 4 accepts input operations by a user. The input system 4 is at least one of a mouse, a trackball, a keyboard, a touch panel, etc.

[0022] The map DB 5 stores map information usable by the information processing device 100. The map DB 5 includes at least one type of non-transitory tangible storage medium, for example, a semiconductor memory, a magnetic medium, an optical medium, and the like. The map DB 5 may be a database of a locator that estimates a self-state quantity including a self-position of the host vehicle A. The map DB 5 may be a database of a navigation unit that navigates the travel route of the host vehicle A. The map DB 5 may be configured by combining a plurality of types of these databases, etc.

[0023] The map information in the map DB5 includes at least two-dimensional horizontal position information on surrounding objects O that are installed in the facility area and may become obstacles when the autonomous device 1 travels. For example, the map information may be point cloud data including a reflection point group of the surrounding objects O acquired by an external sensor such as LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging). In this case, each reflection point has position information. Alternatively, the map information may be image data obtained by imaging the reflection point group projected onto a bird's-eye view plane. The map information may include three-dimensional position information including height information of the surrounding objects O.

[0024] The vehicle DB 6 stores information (vehicle information) related to the autonomous device 1 that can be used by the information processing device 100. The vehicle DB 20 includes at least one type of non-transient substantial storage medium, for example, a semiconductor memory, a magnetic medium, an optical medium, etc. The vehicle information in the vehicle DB 6 includes information on the autonomous device 1 required for displaying the limit route PL. For example, the vehicle information includes dimensional information of the autonomous device 1. The dimensional information includes at least the distance Lr from the center of gravity position CG of the vehicle to the rear axle 15b.

[0025] The vehicle DB 6 stores the dimensional information in association with the identification information of the autonomous device 1. Here, the identification information is information indicating the vehicle type of the autonomous device 1, such as the product name, model number, or model name. That is, the vehicle DB 6 stores various information so that, when a vehicle type of the autonomous device 1 is specified, the dimensional information corresponding to the vehicle type can be collated.

[0026] The display system 7 is a display device that displays information to the user. Specifically, the display system 7 displays the target route P together with map information of the target area. The display system 7 is at least one type of display, such as a liquid crystal panel or an organic EL panel.

[0027] The information processing device 100 is a computer including at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. Here, storage may refer to accumulation in which data is retained even when the computer is turned off, or temporary storage in which data is erased when the computer is turned off. The processor 102 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a data flow processor (DFP), or a graph streaming processor (GSP).

[0028] In the information processing device 100, the processor 102 executes a plurality of instructions included in an information processing program stored in the memory 101 in order to control the display of route data defining the target route P traced by the autonomous device 1. In this way, the information processing device 100 constructs a plurality of functional blocks for controlling the display of route data defining the target route P traced by the autonomous device. The plurality of functional blocks constructed in the information processing device 100 include an acquisition block 110 and an output block 120 as shown in FIG.

[0029] The flow of an information processing method in which the information processing device 100 controls the display of route data defining the target route P traced by the autonomous device 1 through cooperation of these blocks 110 and 120 will be described below with reference to Figs. 4 and 5. Hereinafter, this processing flow may be referred to as an information processing flow. This processing flow is repeatedly executed while the computer of the information processing device 100 is running. Note that each "S" in this processing flow refers to multiple steps executed by multiple commands included in an information processing program.

[0030] First, in S10, the acquisition block 110 acquires map information on the facility area in which the autonomous device 1 is used from the map DB 5. In the following S20, the output block 120 converts the acquired map information into an image and displays it on the display system 7 as a map of the facility area. This facility map displays at least surrounding objects O such as buildings and installations that may be obstacles when the autonomous device 1 travels. Road markings and the like may also be displayed on the facility map.

[0031] Then, in S30, the acquisition block 110 acquires vehicle information of the autonomous device 1. Specifically, the acquisition block 110 accepts input of identification information of the user via the input system 4, and reads out vehicle information of the autonomous device 1 corresponding to the identification information from the vehicle DB 6.

[0032] In the next step S40, the acquisition block 110 acquires the yaw rate limit value γ max The yaw rate limit value γ max is the yaw rate γ i In other words, the yaw rate limit value γ max is the yaw rate γ allowed for the autonomous device 1 i That is, the yaw rate limit value γ max is a larger yaw rate γ i Or higher yaw rate γ iThe acquisition block 110 receives, for example, a yaw rate limit value γ max By accepting the input, the yaw rate limit value γ max Or, obtain the yaw rate limit value γ max may be a value that is predefined and stored in the memory 101 or the like.

[0033] Then, in S50, the acquisition block 110 accepts an input of a start node Ns by the user via the input system 4 as shown in Fig. 6. The start node Ns is the start point of the target route P, and is a node that defines a passing position of the autonomous device 1 on the facility map. For example, the acquisition block 110 accepts the input of the start node Ns by clicking an arbitrary position on the facility map with a mouse, inputting coordinates with a keyboard, or the like.

[0034] Next, in S60, the acquisition block 110 accepts an input of an end node Ne by the user and a route line L connecting the start node Ns and the end node Ne as shown in Fig. 7. The end node Ne is the end point of the target route P, and is a node that defines the passing position of the autonomous device 1 on the facility map, similar to the start node Ns. The route line L is a linear object that connects the start node Ns and the end node Ne, and defines the passing position of the autonomous device 1 between the nodes Ns and Ne.

[0035] When the user defines the start node Ns and the end node Ne on the displayed facility map by clicking the mouse or inputting coordinates, the route line L connecting the nodes Ns and Ne is also automatically input on the facility map. For example, the target route P is displayed as an image object in vector format with at least the start node Ns and the end node Ne as vertices.

[0036] Therefore, the shape of the target route P can be changed to what the user desires by the user changing the positions of these vertices and the direction and magnitude of the vectors from the vertices. The direction and magnitude of the vectors from the vertices can be changed, for example, by operating linear handles (not shown) extending from these vertices with a mouse or the like. Note that in addition to the nodes Ns and Ne, the user may add any vertices that define the shape of the target route P. In this embodiment, the target route P is designed by such input operations by the user. Through the above processes of S40 and S50, the target route P is defined by the start node Ns, the end node Ne, and the route line L.

[0037] In the next step S70, the acquisition block 110 acquires a target speed Vi for the autonomous device 1. The target speed Vi is a travel speed that is a target for the autonomous device 1 when traveling along the target route P to be input. The acquisition block 110 acquires the target speed Vi, for example, by accepting an input of the target speed Vi via the input system 4. Alternatively, the acquisition block 110 may accept an input by reading out a predefined target speed Vi from a storage medium such as the memory 101. The acquisition block 110 acquires multiple target speeds Vi for one target route P, for example, by accepting an input of the target speed Vi for each predetermined position on the target route P.

[0038] Specifically, the acquisition block 110 accepts input of target speeds Vi at the start node Ns and end node Ne, and at multiple intermediate nodes Ni set on the route line between the nodes Ns and Ne. The target speeds Vi may be input by the user individually for each of all nodes. The target speeds Vi may be input by the user for one or more representative nodes. In this case, the target speeds Vi of nodes other than the representative node may be interpolated based on the target speed Vi of the representative node. Alternatively, the target speeds Vi may be input by the user as a uniform value for each set of multiple nodes. The acquisition block 110 may accept input of a single target speed Vi for the entire target route P.

[0039] In the next step S80, the acquisition block 110 acquires a yaw rate γ of the autonomous device 1 that is assumed to trace the curved target path P in correlation with the target path P and the target velocity Vi. i The acquisition block 110 acquires a plurality of yaw rates γ i Specifically, the acquisition block 110 acquires the curvature ρ of the target path P at each node. i and the target speed Vi, and the yaw rate γ i and

[0040] Here, the curvature ρ of the target path P at each node i is the coordinate position x of each node i ,y i and yaw angle φ i This is a value that correlates with the yaw angle φ i is the coordinate position (x i ,y i ) is the angle between the tangent of the target path P and the x-axis. i and the coordinate position x k ,y k and yaw angle φ k The relationship between and satisfies the following formula (1). i and curvature ρ i and the target speed Vi, the relationship of the following formula (2) is established.

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[0041] Therefore, the yaw rate γ i To obtain the curvature ρ i After calculating the yaw rate γ i Calculate.

[0042] In the next step S90, the output block 120 outputs the yaw rate γ iThe autonomous device 1 determines whether there is an unacceptable section S in the target path P, where the yaw rate γ i Here, the size falling within the upper limit means that the size is equal to or less than the threshold value.

[0043] For example, for a certain target route P, the yaw rate γ at each node according to the distance from the starting node Ns is i Assume that the relationship shown in the graph of FIG. 10 is satisfied. The output block 120 outputs the yaw rate γ i 10 is outside the allowable range, the section is identified as a non-allowable section S on the target route P. i A section in which is within the allowable range can also be expressed as an allowable section in contrast to the non-allowable section S. The distance Di from the start node Ns to each node is expressed as the sum of the distances between each node, for example, by the following formula (3).

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[0044] If it is determined that the non-acceptable section S exists, the flow proceeds to S100. In S90, the output block 120 highlights the non-acceptable section S of the target route P displayed on the display system 7 more than other sections. For example, highlighting includes changing at least one of the display color, line type, and line thickness with respect to the other sections.

[0045] As an example, the output block 120 may be iThe target route P is displayed in a display color according to the difference between the target speed Vi and the upper speed limit within the allowable range. As a result, the display system 7 displays the target route P in a heat map form as shown in FIG. 8. In FIG. 8, the difference in display color is expressed by the shade of dot hatching, and the unallowable section S where the target speed Vi exceeds the upper speed limit is represented by the darkest dot hatching. In this way, the output block 120 allows the user to understand the unallowable section S where the target speed Vi exceeds the upper speed limit by the display color. The output block 120 may display a corresponding image showing the correspondence between the difference and the display color. By such a highlighting related to the target speed Vi, the output block 120 suggests lowering the target speed Vi. As a result, the output block 120 urges the user to eliminate the unallowable section S by lowering the target speed Vi.

[0046] In the next step S110, the acquisition block 110 accepts a correction input for the unacceptable section S. For example, the acquisition block 110 accepts a correction input by the user for lowering the target speed Vi for each node in the unacceptable section S via the input system 4. The acquisition block 110 may accept a manual change input by the user to the target speed Vi as the correction input. Alternatively, the acquisition block 110 may accept an authorization input by the user for correcting the target speed Vi as the correction input, and automatically correct the target speed Vi to a speed that falls within the upper speed limit.

[0047] When the correction input is received and the target speed Vi is corrected, the flow returns to S90. That is, the processes of S90, S100, and S110 are repeated until the unacceptable section S is eliminated from the target route P due to the correction of the target speed Vi. When it is determined in S90 that the target route P does not have the unacceptable section S, the flow proceeds to S120 in FIG.

[0048] In S120, the acquisition block 110 judges whether or not the generation of the entire target route P to the final destination point is completed. For example, the acquisition block 110 judges that the target route P is confirmed when the user has input to determine the completion of the generation of the target route P via the input system 4. If it is judged that the generation of the entire target route P is not completed, the flow proceeds to S130.

[0049] In S130, the acquisition block 110 defines the end node Ne of the target route P input in the previous S60 as the start node Ns of the target route P to be input next, as shown in Fig. 9. Specifically, the acquisition block 110 reads the coordinates of the end node Ne of the previous target route P as the coordinate position of the next start node Ns. After that, the flow returns to S60.

[0050] On the other hand, if it is determined in S120 that the generation of all the target routes P is completed, the flow proceeds to S140. In S140, the output block 120 generates route data in which the target route P is confirmed. The route data may be data of the target route P alone. The data of the target route P alone includes, for example, at least the position coordinates of each node on the target route P. The route data may be data combining the target route P with a facility map. In S140, the route data regarding the confirmed target route P is output. The route data is output by, for example, storing the route data in a storage medium such as the memory 101 or an external memory, transmitting the route data to the autonomous device 1, or the like. The information processing device 100 repeats the above processes until the user sets the target route P to the final arrival point of the autonomous device 1.

[0051] According to the first embodiment described above, the target path P and the target speed V i The yaw rate γ expected for the autonomous device 1 tracing the curved target path P relative to iThe non-permissible section S, which is outside the permissible range for tracing, is highlighted. Therefore, the user can understand that the autonomous device cannot trace the input target route by checking the highlighted non-permissible section S. Therefore, it is possible to understand the actual traceability.

[0052] Furthermore, according to the first embodiment, input of a target route P designed by a user manually inputting nodes into the facility map displayed on the display system 7 is accepted. Therefore, the user can determine whether or not the autonomous device 1 can trace the target route P during autonomous driving by checking whether or not the unacceptable section S of the target route P designed by manually inputting nodes is highlighted.

[0053] Furthermore, according to the first embodiment, in the highlighting of the non-tolerable section S, the target speed V i This makes it possible to propose to the user a simpler method of eliminating the unacceptable section S without changing the shape of the target route P.

[0054] Then, according to the first embodiment, route data is generated that defines the target route P that eliminates the unacceptable section S. This makes it possible to reliably generate route data with high actual traceability.

[0055] In addition, according to the first embodiment, route data is output that defines a target route P in which the unacceptable section S has been eliminated. As a result, stable autonomous traveling of the autonomous device 1 can be realized by the output route data with high actual traceability.

[0056] Second Embodiment As shown in FIG. 11, the second embodiment is a modification of the first embodiment.

[0057] As shown in FIG. 11, the flow of the information processing method in the second embodiment proceeds to S51 after the process of S40. In S51, the acquisition block 110 acquires manual driving route data. The manual driving route data is data related to the route that the autonomous device 1 has actually traveled by manual driving. The manual driving route data includes at least position coordinate data at each position on the route. The acquisition block 110 accepts input of the manual driving route data by wireless or wired communication with the autonomous device 1, or by reading a storage medium such as a memory card in which data is written. In this embodiment, the target route P is designed by such an acquisition process of the manual route data. The acquisition block 110 may acquire the manual driving route data from the starting point to the arrival point at once. Alternatively, the acquisition block 110 may acquire the manual driving route data for each of the multiple sections from the starting point to the arrival point in multiple times.

[0058] In the next S61, the output block 120 displays the manual driving route data on the display system 7. The output block 120 converts the coordinate position data in the manual driving route data into coordinate position data on the facility map, thereby displaying the route by manual driving as a target route P.

[0059] According to the second embodiment described above, an input of a target route P is accepted as manual driving route data relating to a route actually traveled by the autonomous device 1 during manual driving. By checking whether or not the unacceptable section S is highlighted, a user can determine whether or not the autonomous device 1 can trace the manual driving route data during autonomous driving. This can prevent a situation in which the autonomous device 1 is unable to trace a route that is substantially the same as that of manual driving due to performance constraints or the like regarding the autonomous driving of the autonomous device 1.

[0060] Third embodiment As shown in FIGS. 12 to 15, the third embodiment is a modification of the first embodiment.

[0061] As shown in FIG. 12, the flow of the information processing method in the third embodiment proceeds to S52 after the processing of S50. In S52, the output block 120 defines a limit path PL extending from the start node Ns. The limit path PL is a curved path that is a limit at which tracing of the target path P by the autonomous device 1 is permitted. The limit path PL is a path that correlates with a yaw rate limit value that is an upper limit within an allowable range in which tracing is valid, and a set speed Vs. In other words, the limit path PL is a path that is specified according to the yaw rate limit value and the set speed Vs. In detail, the limit path PL is a path that is further specified according to vehicle information. The set speed Vs is, for example, an upper limit speed of the autonomous device 1 when traveling along the target path P to be input. The set speed Vs may be input by a user or may be a value that is specified in advance. The set speed Vs may be a different speed depending on the distance from the start node Ns, or may be a uniform speed.

[0062] In order to define the limit path PL, the output block 120 simulates the transition of the coordinate position and the yaw angle when the autonomous device 1 runs around a curve (turns) from the position of the start node Ns at a set speed Vs so as to maintain the yaw rate limit value. The coordinate system here is an orthogonal coordinate system fixed with respect to the road surface. The output block 120 adopts the running trajectory as the simulation result as the limit path PL. The output block 120 executes simulations for each of the cases of turning right and turning left from the position of the start node Ns, and defines two patterns of the limit path PL. Note that the left and right here refer to the left and right when facing the traveling direction of the autonomous device 1.

[0063] For example, the output block 120 simulates the running of the autonomous device 1 using a two-wheel model that regards the autonomous device 1 as a two-wheeled vehicle equipped with virtual front and rear wheels. The output block 120 outputs the coordinate position x k ,y k and yaw angle φ k Here, x k ,y k ,φk The subscript k in is a natural number that is 0 at the initial position, that is, at the start node Ns, and increases by 1 for each update.

[0064] Set speed Vs, yaw rate limit γ max The distance L from the center of gravity CG to the rear axle 15b when turning r The slip angle β in the autonomous device 1 corresponds to the following equation (4): Note that the positive or negative value of the right side of equation (1) is selectively determined depending on the turning direction.

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[0065] And the position (x k ,y k ), yaw angle φ k position (x k+1 ,y k+1 ), yaw angle φ k+1 corresponds to the following formulas (5) to (7).

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[0066] The output block 120 performs updates any number of times to obtain the coordinate position (x k ,y k ) is acquired as a travel trajectory. The time step ds and the number of updates may be set by the user or may be specified in advance.

[0067] In the next step S53, the output block 120 displays the limit path PL on the display system 7 as shown in FIG. k ,y k), the limit path PL is displayed as a curved line object extending from the starting node Ns. That is, the output block 120 displays the limit path PL as a curved line object extending from the starting node Ns based on the information of the set of coordinate positions (x k ,y k ) to a position on the display screen in the display system 7, and the coordinate position (x k ,y k ) is interpolated with a curve to display the limit path PL.

[0068] As a result, the display system 7 displays an input allowable area where input of the target route P is allowed and an input prohibited area where input of the target route P is prohibited, with the limit route PL as the boundary line. The input allowable area can also be rephrased as a travel allowable area where travel of the autonomous device 1 is allowed. The input prohibited area can also be rephrased as a travel prohibited area where travel of the autonomous device 1 is prohibited. Depending on the time step ds and the number of updates, the limit route PL may be displayed to the end on the display screen. In other words, the limit route PL may be displayed in an interrupted state on the display screen.

[0069] After the process of S53, the flow proceeds to S60. That is, the user inputs the end node Ne while looking at the facility map showing the limit route PL, as shown in Fig. 14. When the target route P is defined in the process of S50, the flow proceeds to S61.

[0070] In S61, the acquisition block 110 determines whether the target route P input by the user crosses the limit route PL. If it is determined that the target route P crosses the limit route PL, the flow proceeds to S62. In S62, the output block 120 prohibits the determination of the target route P.

[0071] For example, the output block 120 prohibits input of the next target route P with the end node Ne of the current target route P as the start node Ns until a correction input of the target route P is made. The output block 120 may notify the user that the target route P crosses the limit route PL by the display system 7. After S62, this flow returns to S60. As a result, the user corrects the target route P that crosses the limit route PL by inputting the end node Ne again. On the other hand, if it is determined in S61 that the target route P does not cross the limit route PL, this flow proceeds to S70. Note that in S70 in this embodiment, the set speed Vs that defines the limit route PL may be acquired as the target speed Vi.

[0072] In this embodiment, after the end node Ne of the previously input target route P is defined as the next start node Ns in S130, the flow proceeds to S52. That is, every time a target route P that does not cross the limit route PL and does not have an unacceptable section S is input, the limit route PL extending from the end node Ne of the input target route P is displayed as a guide when inputting a new target route P (see FIG. 15).

[0073] According to the third embodiment described above, the yaw rate limit value γ max and the set speed Vs, a limit path PL that correlates with the set speed Vs is displayed. Therefore, by referring to this limit path PL, the user can input the target path P while checking whether the target path P can be traced. Therefore, the user can grasp the actual tracing ability of the autonomous device 1 not only after the user has input the target path P, but also before the input is completed.

[0074] (Fourth embodiment) As shown in FIG. 16, the fourth embodiment is a modification of the first embodiment.

[0075] 16, the information processing apparatus 100 of the fourth embodiment proceeds to S41 after the process of S30. In S41, the acquisition block 110 acquires the yaw rate limit value γmax Instead of lateral acceleration limit a lmax After S41, the flow proceeds to S50.

[0076] In this embodiment, in S90, the output block 120 outputs the lateral acceleration limit value a lmax The output block 120 determines whether or not there is an unacceptable section S in the tolerance range correlated with the lateral acceleration limit value a lmax The yaw rate limit value γ max Here, the lateral acceleration limit value a lmax , the target speed Vi and the yaw rate limit value γ max The relationship between them satisfies the following formula (8).

number

[0077] Therefore, the output block 120 outputs the lateral acceleration limit value a lmax is a value that correlates with the target speed Vi, and the yaw rate limit value γ max The output block 120 converts the lateral acceleration limit value a lmax Yaw rate limit value γ converted from max The magnitude of the lateral acceleration limit value a is a parameter that defines the threshold value of the allowable range. lmax In other words, the yaw rate γi outside the permissible range in this embodiment is determined based on the curvature ρ i And the lateral acceleration is correlated with the target speed Vi and the lateral acceleration limit value a lmax Yaw rate γ exceeds i Lateral acceleration limit a lmax is an example of an "upper acceleration limit."

[0078] In the fourth embodiment described above, the yaw rate γ i is the target path P and the target speed V i The lateral acceleration is correlated with the lateral acceleration limit a lmax Yaw rate γ exceeds iTherefore, the yaw rate γ i If the autonomous device 1 travels through a non-tolerant section S where is outside the tolerable range, the lateral acceleration acting on the autonomous device 1 is equal to or greater than the lateral acceleration limit value a lmax By highlighting the unacceptable section S to the user, the user may be able to avoid creating a target route P in which a lateral acceleration that would result in a trace failure acts on the autonomous device 1.

[0079] Fifth embodiment As shown in FIG. 17, the fifth embodiment is a modification of the first embodiment.

[0080] As shown in Fig. 17, the information processing apparatus 100 of the fifth embodiment proceeds to S42 after the process of S30. In S42, the acquisition block 110 acquires the yaw rate limit value γ max Instead of the steering angle limit value δ max After S41, the flow proceeds to S50.

[0081] In this embodiment, in S80, the output block 120 outputs the steering angle limit value δ max The output block 120 determines whether or not there is a non-tolerable section S in the tolerance range correlated with the steering angle limit value δ max The yaw rate limit value γ max Here, in the two-wheel model, the steering angle limit value δ max , the target speed Vi and the yaw rate limit value γ max The relationship between these holds as shown in the following formula (9): In formula (9), B is the wheelbase length of the autonomous device 1.

number

[0082] Therefore, the output block 120 calculates the steering angle limit value δ based on the formula (9). max is a value that correlates with the target speed Vi, and the yaw rate limit value γ max The output block 120 converts the steering angle limit value δ max Yaw rate limit value γ converted from maxThe magnitude of the steering angle limit value δ is set as a parameter that defines the threshold value of the allowable range. max In other words, the yaw rate γi outside the permissible range in this embodiment is determined based on the curvature ρ i The steering angle is correlated with the target speed Vi and the steering angle limit value δ max Yaw rate γ exceeds i The steering angle limit value δ max is an example of the "upper steering angle limit."

[0083] In the fifth embodiment described above, the yaw rate γ i is the target path P and the target speed V i The steering angle is correlated with the steering angle limit value δ max Yaw rate γ exceeds i Therefore, the yaw rate γ i If the autonomous device 1 travels through a non-tolerant section S where is outside the tolerable range, the steering angle acting on the autonomous device 1 is limited to the steering angle limit value δ max By highlighting the unacceptable section S to the user, the user may be able to avoid creating a target route P along which the autonomous device 1 travels with a steering angle that results in a failure to trace.

[0084] Sixth embodiment As shown in FIG. 18, the sixth embodiment is a modification of the first embodiment.

[0085] In the sixth embodiment, the output block 120 displays a display object indicating the non-tolerable section S in addition to the target route P in highlighting the non-tolerable section S. For example, the output block 120 displays a section presentation image Is and a reduction notification image In as shown in FIG. 18. The section presentation image Is is a display object other than the target route P that distinguishes the non-tolerable section S in the target route P from the tolerable section. The section presentation image Is includes, for example, a linear section object that divides the boundary between the non-tolerable section S and the tolerable section, and an arrow-shaped range object that is disposed between the section objects and indicates the range of the non-tolerable section S. The reduction notification image In is a display object that notifies that a reduction in the target speed Vi is necessary to eliminate the non-tolerable section S. The reduction notification image In includes, for example, a character object that notifies by character information.

[0086] Seventh embodiment As shown in FIG. 19, the seventh embodiment is a modification of the first embodiment.

[0087] In the sixth embodiment, the output block 120 highlights the unacceptable section S by adding a display object proposing a reduction in the curvature ρi of the unacceptable section S to the target route P. For example, the output block 120 displays the unacceptable section S in a different display color from other parts of the target route P. In the example shown in FIG. 19, the different display color is represented by hatching. The output block 120 may display a notification image that notifies the user by text information or the like that the curvature ρi needs to be reduced. By such highlighting, the output block 120 urges the user to eliminate the unacceptable section S by reducing the curvature ρi.

[0088] In addition, when a reduction in the curvature ρi is proposed, the acquisition block 110 in S110 accepts an input for changing at least one of the position of the end node Ne and the shape of the route line, and prohibits the change of the start node Ns. In this way, the acquisition block 110 avoids changing the shape of the target route P before the previous time in which the unacceptable section S has already been resolved.

[0089] According to the seventh embodiment described above, a change in the curvature of the target route P is suggested in highlighting the unacceptable section S. Therefore, it may be possible to prompt the user to eliminate the unacceptable section S by reducing the curvature ρi.

[0090] (Other embodiments) Although several embodiments have been described above, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope not departing from the gist of the present disclosure.

[0091] In a modification of the fourth embodiment, the information processing device 100 determines the lateral acceleration limit value a lmax The yaw rate limit value γ max Instead of converting to yaw rate γ i In this case, the information processing device 100 converts the lateral acceleration at each node into the lateral acceleration limit value a lmax In the case where the yaw rate γ obtained in S80 is outside the allowable range defined in S80, the information processing device 100 determines that the yaw rate γ is in the non-allowable section S. i may be converted to a steering angle.

[0092] In a modified example, the information processing device 100 may acquire a plurality of state values ​​such as a yaw rate limit value, a lateral acceleration limit value, and a steering angle limit value. In this case, the information processing device 100 determines whether or not there is a non-allowable section S according to the state value having the strictest allowable range for the establishment of a trace among the plurality of state values. Specifically, the information processing device 100 acquires the lateral acceleration limit value a lmax and steering angle limit value δ max is converted into a yaw rate, and the strictest limit value among the state values ​​is selected as the state value that defines the tolerance range.

[0093] In a modified example, a new target speed V may be input for each target route P. In addition, in a modified example, the information processing device 100 may receive an input of a target speed V that changes depending on travel from the start node Ns.

[0094] In a modified example, the computer constituting the information processing device 100 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), CPLD (Complex Programmable Logic Device), etc. Furthermore, such a digital circuit may have a memory that stores a program.

[0095] In a modified example, the memory 101 storing the information processing program may be a portable storage medium removable from the information processing device 100. In this case, the memory 101 may be a storage medium in which the information processing program is stored readably in the information processing device 100 as a computer, for carrying the program to be installed in the information processing device 100. Alternatively, the memory 101 may be a storage medium of a server device that distributes the information processing program to the information processing device 100 of a user.

[0096] In addition to the forms described above, the information processing device 100 in the above-described embodiments and modifications may be implemented in the form of a semiconductor device (eg, a semiconductor chip, etc.).

[0097] (Disclosure of technical ideas) This specification discloses multiple technical ideas described in the following multiple dependent claims. Some of the claims may be described in a multiple dependent form, where the subsequent claim alternatively refers to the preceding claim. Furthermore, some of the claims may be described in a multiple dependent form, where the subsequent claim alternatively refers to the preceding claim. The claims described in these multiple dependent forms define multiple technical ideas.

[0098] (Technical thought 1) An information processing method executed by a processor (102) to execute a route generation-related process related to generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, comprising: receiving an input of the target route that is set as a target for each section between nodes that defines a passing position of the autonomous device, and a target speed that is set as a target for autonomous traveling on the target route; Displaying the target route on a display device (7); Including, Displaying the target route includes: and highlighting an unacceptable section (S) of the target route, in which an expected yaw rate of the autonomous device tracing the curved target route in correlation with the target route and the target speed falls outside an acceptable range for the tracing to be established.

[0099] (Technical thought 2) The information processing method according to Technical Idea 1, wherein the yaw rate outside the allowable range includes the yaw rate at which the lateral acceleration exceeds an upper acceleration limit in correlation with the target route and the target speed.

[0100] (Technical Thought 3) The information processing method according to Technical Idea 1 or Technical Idea 2, wherein the yaw rate outside the allowable range includes the yaw rate at which the steering angle exceeds an upper acceleration limit in correlation with the target route and the target speed.

[0101] (Technical Thought 4) Receiving an input of the target route and the target speed The information processing method according to any one of Technical Ideas 1 to 3, including accepting input of the target route as manual driving route data relating to a route actually traveled by the autonomous device through manual driving.

[0102] (Technical Thought 5) Receiving an input of the target route and the target speed The information processing method according to any one of Technical Ideas 1 to 4, which includes accepting input of the target route designed by a user manually inputting the nodes on a map relating to a driving area of ​​the autonomous device displayed on the display device.

[0103] (Technical Thought 6) Displaying the target route includes: The information processing method according to technical idea 5 further includes displaying a curved limit route (PL), which is the limit within which tracing of the target route by the autonomous device is allowed, from a start node (Ns) of the target route that is manually input.

[0104] (Technical Thought 7) Displaying the target route includes: The information processing method according to any one of Technical Ideas 1 to 6, further comprising the step of suggesting a reduction in the target speed in the unacceptable section in the highlighted display of the unacceptable section.

[0105] (Technical Thought 8) Displaying the target route includes: The information processing method according to any one of technical ideas 1 to 7, further comprising proposing a change in curvature of the target route in highlighting the unacceptable section.

[0106] (Technical Thought 9) The information processing method according to any one of Technical Ideas 1 to 8, further comprising generating route data defining the target route in which the unacceptable section has been eliminated.

[0107] (Technical Thought 10) The information processing method according to technical idea 9, further comprising outputting the route data defining the target route in which the unacceptable section has been eliminated.

[0108] The above technical ideas 1 to 10 may be implemented in the form of an information processing device 100, an information processing program, and a storage medium. [Explanation of symbols]

[0109] 1: autonomous device, 7: display system (display device), 101: memory (storage medium), 102: processor, Ns: start node, P: target path, PL: limit path, S: non-tolerable section

Claims

1. An information processing method executed by a processor (102) to execute a route generation-related process related to generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, comprising: receiving an input of the target route that is set as a target for each node between which the autonomous device passes and a target speed that is set as a target for autonomous traveling along the target route; Displaying the target route on a display device (7); Including, Displaying the target route includes: and highlighting an unacceptable section (S) of the target route, in which an expected yaw rate of the autonomous device tracing the curved target route in correlation with the target route and the target speed falls outside an acceptable range for the tracing to be established.

2. The information processing method according to claim 1 , wherein the yaw rate outside the allowable range includes the yaw rate at which the lateral acceleration exceeds an upper acceleration limit in correlation with the target route and the target speed.

3. The information processing method according to claim 1 , wherein the yaw rate outside the allowable range includes the yaw rate at which a steering angle exceeds an upper acceleration limit in correlation with the target route and the target speed.

4. Receiving an input of the target route and the target speed The information processing method according to claim 1 , further comprising receiving an input of the target route as manual driving route data relating to a route actually traveled by the autonomous device through manual driving.

5. Receiving an input of the target route and the target speed 2. The information processing method according to claim 1, further comprising receiving an input of the target route designed by a user manually inputting the nodes on a map relating to a travel area of ​​the autonomous device displayed on the display device.

6. Displaying the target route includes:

6. The information processing method according to claim 5, further comprising displaying a curved limit path (PL) that is a limit within which tracing of the target path by the autonomous device is permitted from a start node (Ns) of the manually input target path.

7. Displaying the target route includes: The information processing method according to claim 1 , wherein the highlighting of the unacceptable section includes suggesting a reduction in the target speed in the unacceptable section.

8. Displaying the target route includes: The information processing method according to claim 1 , further comprising the step of proposing a change in curvature of the target route in the step of highlighting the unacceptable section.

9. The information processing method according to claim 1 , further comprising generating the route data defining the target route from which the unacceptable section has been eliminated.

10. The information processing method according to claim 9 , further comprising outputting the route data defining the target route from which the unacceptable section has been eliminated.

11. An information processing device comprising a processor (102) and executing a route generation-related process related to the generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, The processor, receiving an input of the target route that is set as a target for each section between nodes that defines a passing position of the autonomous device, and a target speed that is set as a target for autonomous traveling on the target route; Displaying the target route on a display device (7); configured to run Displaying the target route includes: and highlighting an unacceptable section (S) of the target route where an expected yaw rate of the autonomous device tracing the curved target route in correlation with the target route and the target speed is outside an acceptable range for the tracing to be established.

12. An information processing program stored in a storage medium (101) for executing a route generation-related process related to the generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, the information processing program including instructions to be executed by a processor (102), The instruction: Accepting an input of the target route that is set as a target for each node between which the autonomous device passes and a target speed that is set as a target for autonomous traveling on the target route; Displaying the target route on a display device (7); Including, Displaying the target route includes: and highlighting an unacceptable section (S) of the target route, in which an assumed yaw rate of the autonomous device tracing the curved target route in correlation with the target route and the target speed falls outside an acceptable range for the tracing to be established.

13. A storage medium storing an information processing program including instructions to be executed by a processor (102) to execute a route generation-related process related to the generation of route data defining a target route (P) to be traced by an autonomous device (1) capable of autonomous travel, The instruction: receiving an input of the target route that is set as a target for each node between which the autonomous device passes and a target speed that is set as a target for autonomous traveling along the target route; Displaying the target route on a display device (7); Including, Displaying the target route includes: and highlighting an unacceptable section (S) of the target route where an expected yaw rate of the autonomous device tracing the curved target route in correlation with the target route and the target speed is outside an acceptable range for the tracing to be established.

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